{"record_type":"pith_number_record","schema_url":"https://pith.science/schemas/pith-number/v1.json","pith_number":"pith:2018:XRDF4FP7HS6Z2QUPOWU37NVMUD","short_pith_number":"pith:XRDF4FP7","schema_version":"1.0","canonical_sha256":"bc465e15ff3cbd9d428f75a9bfb6aca0d32d63003cc46a0046bae26a89446ea5","source":{"kind":"arxiv","id":"1812.02738","version":1},"attestation_state":"computed","paper":{"title":"On the Modelling of Soft-robots as Quasi-Continuum Lagrangian Dynamical Systems with Well-posed Input Matrix","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cond-mat.soft"],"primary_cat":"physics.class-ph","authors_text":"Christian A. Trejo-Ramos, David Navarro-Alarc\\'on, Ernesto Olgu\\'in-D\\'iaz, Vicente Parra-Vega","submitted_at":"2018-12-06T04:43:06Z","abstract_excerpt":"In this paper, considering a braided continuum soft-robot, whose radial deformation is constrained but elongation is assumed, a quasi-Lagrangian model is proposed that meets the Lagrangian models properties, including a well-posed input matrix. Actuation is considered throughout three inner pressure cambers, and torsional effects are neglected. The closed-form analytical model is obtained using a scalar varying mass density field, previously neglected in the literature, which produces on one hand a varying center of mass, which generally does not lay in the backbone curve, and one the other ha"},"verification_status":{"content_addressed":true,"pith_receipt":true,"author_attested":false,"weak_author_claims":0,"strong_author_claims":0,"externally_anchored":false,"storage_verified":false,"citation_signatures":0,"replication_records":0,"graph_snapshot":true,"references_resolved":false,"formal_links_present":false},"canonical_record":{"source":{"id":"1812.02738","kind":"arxiv","version":1},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"physics.class-ph","submitted_at":"2018-12-06T04:43:06Z","cross_cats_sorted":["cond-mat.soft"],"title_canon_sha256":"2d9bf7b66192eb2e22fdc0d886a10bd4f3bbbcad8ec7eccaba8b90e593c035cb","abstract_canon_sha256":"ef54c62b555c60972457dbb453cc363d747dc70e95c5dfba22da1065571ae74f"},"schema_version":"1.0"},"receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-05-17T23:58:51.993676Z","signature_b64":"vb/1zeYPUgVRg8GCSeg/ghsRnuGIBZzLxv/DOoxnd9Mm2Dz1bGETd1+Fm1yKlgw97GMFLshLAr77GvoaYeiZBw==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"bc465e15ff3cbd9d428f75a9bfb6aca0d32d63003cc46a0046bae26a89446ea5","last_reissued_at":"2026-05-17T23:58:51.992927Z","signature_status":"signed_v1","first_computed_at":"2026-05-17T23:58:51.992927Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"graph_snapshot":{"paper":{"title":"On the Modelling of Soft-robots as Quasi-Continuum Lagrangian Dynamical Systems with Well-posed Input Matrix","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cond-mat.soft"],"primary_cat":"physics.class-ph","authors_text":"Christian A. Trejo-Ramos, David Navarro-Alarc\\'on, Ernesto Olgu\\'in-D\\'iaz, Vicente Parra-Vega","submitted_at":"2018-12-06T04:43:06Z","abstract_excerpt":"In this paper, considering a braided continuum soft-robot, whose radial deformation is constrained but elongation is assumed, a quasi-Lagrangian model is proposed that meets the Lagrangian models properties, including a well-posed input matrix. Actuation is considered throughout three inner pressure cambers, and torsional effects are neglected. The closed-form analytical model is obtained using a scalar varying mass density field, previously neglected in the literature, which produces on one hand a varying center of mass, which generally does not lay in the backbone curve, and one the other ha"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1812.02738","kind":"arxiv","version":1},"verdict":{"id":null,"model_set":{},"created_at":null,"strongest_claim":"","one_line_summary":"","pipeline_version":null,"weakest_assumption":"","pith_extraction_headline":""},"references":{"count":0,"sample":[],"resolved_work":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57","internal_anchors":0},"formal_canon":{"evidence_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"author_claims":{"count":0,"strong_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"builder_version":"pith-number-builder-2026-05-17-v1"},"aliases":[{"alias_kind":"arxiv","alias_value":"1812.02738","created_at":"2026-05-17T23:58:51.993042+00:00"},{"alias_kind":"arxiv_version","alias_value":"1812.02738v1","created_at":"2026-05-17T23:58:51.993042+00:00"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1812.02738","created_at":"2026-05-17T23:58:51.993042+00:00"},{"alias_kind":"pith_short_12","alias_value":"XRDF4FP7HS6Z","created_at":"2026-05-18T12:33:01.666342+00:00"},{"alias_kind":"pith_short_16","alias_value":"XRDF4FP7HS6Z2QUP","created_at":"2026-05-18T12:33:01.666342+00:00"},{"alias_kind":"pith_short_8","alias_value":"XRDF4FP7","created_at":"2026-05-18T12:33:01.666342+00:00"}],"events":[],"event_summary":{},"paper_claims":[],"inbound_citations":{"count":1,"internal_anchor_count":1,"sample":[{"citing_arxiv_id":"1906.10489","citing_title":"Keep soft robots soft -- a data-driven based trade-off between feed-forward and feedback control","ref_index":12,"is_internal_anchor":true}]},"formal_canon":{"evidence_count":0,"sample":[],"anchors":[]},"links":{"html":"https://pith.science/pith/XRDF4FP7HS6Z2QUPOWU37NVMUD","json":"https://pith.science/pith/XRDF4FP7HS6Z2QUPOWU37NVMUD.json","graph_json":"https://pith.science/api/pith-number/XRDF4FP7HS6Z2QUPOWU37NVMUD/graph.json","events_json":"https://pith.science/api/pith-number/XRDF4FP7HS6Z2QUPOWU37NVMUD/events.json","paper":"https://pith.science/paper/XRDF4FP7"},"agent_actions":{"view_html":"https://pith.science/pith/XRDF4FP7HS6Z2QUPOWU37NVMUD","download_json":"https://pith.science/pith/XRDF4FP7HS6Z2QUPOWU37NVMUD.json","view_paper":"https://pith.science/paper/XRDF4FP7","resolve_alias":"https://pith.science/api/pith-number/resolve?arxiv=1812.02738&json=true","fetch_graph":"https://pith.science/api/pith-number/XRDF4FP7HS6Z2QUPOWU37NVMUD/graph.json","fetch_events":"https://pith.science/api/pith-number/XRDF4FP7HS6Z2QUPOWU37NVMUD/events.json","actions":{"anchor_timestamp":"https://pith.science/pith/XRDF4FP7HS6Z2QUPOWU37NVMUD/action/timestamp_anchor","attest_storage":"https://pith.science/pith/XRDF4FP7HS6Z2QUPOWU37NVMUD/action/storage_attestation","attest_author":"https://pith.science/pith/XRDF4FP7HS6Z2QUPOWU37NVMUD/action/author_attestation","sign_citation":"https://pith.science/pith/XRDF4FP7HS6Z2QUPOWU37NVMUD/action/citation_signature","submit_replication":"https://pith.science/pith/XRDF4FP7HS6Z2QUPOWU37NVMUD/action/replication_record"}},"created_at":"2026-05-17T23:58:51.993042+00:00","updated_at":"2026-05-17T23:58:51.993042+00:00"}